A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural netw...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Universiti Putra Malaysia Press
2004
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| Online Access: | http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf http://psasir.upm.edu.my/id/eprint/3621/ |
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